EP1577146A3 - Adaptive cruise control with limiting of lateral acceleration - Google Patents

Adaptive cruise control with limiting of lateral acceleration Download PDF

Info

Publication number
EP1577146A3
EP1577146A3 EP05075612A EP05075612A EP1577146A3 EP 1577146 A3 EP1577146 A3 EP 1577146A3 EP 05075612 A EP05075612 A EP 05075612A EP 05075612 A EP05075612 A EP 05075612A EP 1577146 A3 EP1577146 A3 EP 1577146A3
Authority
EP
European Patent Office
Prior art keywords
vehicle
cruise control
adaptive cruise
limiting
lateral acceleration
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP05075612A
Other languages
German (de)
French (fr)
Other versions
EP1577146A2 (en
EP1577146B1 (en
Inventor
Robert A. Perisho Jr.
Jeremy S. Greene
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Delphi Technologies Inc
Original Assignee
Delphi Technologies Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=34838943&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=EP1577146(A3) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by Delphi Technologies Inc filed Critical Delphi Technologies Inc
Priority to EP07075766A priority Critical patent/EP1872998B1/en
Publication of EP1577146A2 publication Critical patent/EP1577146A2/en
Publication of EP1577146A3 publication Critical patent/EP1577146A3/en
Application granted granted Critical
Publication of EP1577146B1 publication Critical patent/EP1577146B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
    • B60K31/0066—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator responsive to vehicle path curvature
    • B60K31/0083—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator responsive to vehicle path curvature responsive to centrifugal force acting on vehicle due to the path it is following
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • B60W30/17—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle with provision for special action when the preceding vehicle comes to a halt, e.g. stop and go
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18145—Cornering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/12—Lateral speed
    • B60W2520/125—Lateral acceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/14—Yaw
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4041—Position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/804—Relative longitudinal speed

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Combustion & Propulsion (AREA)
  • Chemical & Material Sciences (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Regulating Braking Force (AREA)
  • Controls For Constant Speed Travelling (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Feedback Control In General (AREA)
  • Electrical Control Of Ignition Timing (AREA)
  • Traffic Control Systems (AREA)

Abstract

The present invention relates to a system and method for enabling a vehicle (102,200,302) having an adaptive cruise control to ignore objects (103,112,303,312) detected during a turn that are not in the vehicles path. The method is characterized by: estimating a path for the vehicle in a turn (106,306); associating the vehicle path with a first zone area (308a,308b), the first zone area including the turn; and reducing the vehicle's speed when a detected object (103,112,303,312) is determined to be in the first zone area and maintaining the vehicle's speed when the detected object is determined to be outside of the first zone area.
EP05075612A 2004-03-19 2005-03-14 Adaptive cruise control with limiting of lateral acceleration Active EP1577146B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP07075766A EP1872998B1 (en) 2004-03-19 2005-03-14 Adaptive cruise control with limiting of lateral acceleration

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US804745 2004-03-19
US10/804,745 US7512475B2 (en) 2004-03-19 2004-03-19 Automatic lateral acceleration limiting and non threat target rejection

Related Child Applications (1)

Application Number Title Priority Date Filing Date
EP07075766A Division EP1872998B1 (en) 2004-03-19 2005-03-14 Adaptive cruise control with limiting of lateral acceleration

Publications (3)

Publication Number Publication Date
EP1577146A2 EP1577146A2 (en) 2005-09-21
EP1577146A3 true EP1577146A3 (en) 2006-08-16
EP1577146B1 EP1577146B1 (en) 2008-03-19

Family

ID=34838943

Family Applications (2)

Application Number Title Priority Date Filing Date
EP05075612A Active EP1577146B1 (en) 2004-03-19 2005-03-14 Adaptive cruise control with limiting of lateral acceleration
EP07075766A Active EP1872998B1 (en) 2004-03-19 2005-03-14 Adaptive cruise control with limiting of lateral acceleration

Family Applications After (1)

Application Number Title Priority Date Filing Date
EP07075766A Active EP1872998B1 (en) 2004-03-19 2005-03-14 Adaptive cruise control with limiting of lateral acceleration

Country Status (4)

Country Link
US (2) US7512475B2 (en)
EP (2) EP1577146B1 (en)
AT (2) ATE389559T1 (en)
DE (2) DE602005005373T2 (en)

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US7974778B2 (en) * 2004-09-17 2011-07-05 Honda Motor Co., Ltd. Vehicular control object determination system and vehicular travel locus estimation system
DE102005050277A1 (en) * 2005-10-20 2007-04-26 Robert Bosch Gmbh Distance and speed controller with jam detection
DE102006032671A1 (en) * 2006-07-13 2008-01-17 Robert Bosch Gmbh Method and device for controlling the speed of a vehicle
JP4648282B2 (en) * 2006-10-06 2011-03-09 本田技研工業株式会社 Vehicle travel control device
EP2144217B1 (en) * 2007-03-29 2013-08-14 Toyota Jidosha Kabushiki Kaisha Collision possibility acquiring device, and collision possibility acquiring method
JP5336052B2 (en) * 2007-05-28 2013-11-06 株式会社デンソー Cruise control device, program, and target vehicle speed setting method
JP4450023B2 (en) 2007-07-12 2010-04-14 トヨタ自動車株式会社 Own vehicle risk acquisition device
EP2050642A3 (en) * 2007-10-16 2009-09-30 Hitachi Ltd. Braking/driving control apparatus and vehicle having the apparatus
JP2010030404A (en) * 2008-07-28 2010-02-12 Visteon Global Technologies Inc Position detection method and position detection apparatus for preceding vehicle and data filtering method
DE102009006472B4 (en) * 2009-01-28 2019-06-13 Dr. Ing. H.C. F. Porsche Aktiengesellschaft motor vehicle
JP4748232B2 (en) * 2009-02-27 2011-08-17 トヨタ自動車株式会社 Driving assistance device
JP5363906B2 (en) * 2009-08-05 2013-12-11 株式会社アドヴィックス Vehicle speed control device
EP2405416B1 (en) * 2010-07-08 2013-11-27 Volvo Car Corporation Adaptive cruise control method and system for controlling speed of vehicle
US9626867B2 (en) 2012-07-18 2017-04-18 Ford Global Technologies, Llc False warning suppression in a collision avoidance system
US9098086B2 (en) 2012-08-07 2015-08-04 Caterpillar Inc. Method and system for planning a turn path for a machine
DE102012213933A1 (en) * 2012-08-07 2014-02-13 Bayerische Motoren Werke Aktiengesellschaft Method for controlling cruise control system of e.g. motor car, involves terminating vehicle turning mode when variable corresponding to lateral acceleration of vehicle reaches or exceeds maximum value
US9085236B2 (en) 2013-05-09 2015-07-21 Robert Bosch Gmbh Adaptive cruise control with stationary object recognition
KR102200121B1 (en) * 2014-02-17 2021-01-08 삼성전자 주식회사 Apparatus and method forecasting vehicle flow
KR20160120773A (en) * 2014-03-20 2016-10-18 오토리브 디벨로프먼트 에이비 A vehicle control system
US9393963B2 (en) 2014-09-19 2016-07-19 Paccar Inc Predictive cruise control system with advanced operator control and feedback
KR101514928B1 (en) * 2014-09-24 2015-04-23 주식회사 만도 Automatic driving controlling system and method
JP6298772B2 (en) * 2015-01-14 2018-03-20 日立オートモティブシステムズ株式会社 In-vehicle control device, own vehicle position and orientation identification device, in-vehicle display device
US9650043B2 (en) 2015-04-30 2017-05-16 GM Global Technology Operations LLC Real-time anticipatory speed control
TWI621075B (en) * 2015-12-09 2018-04-11 Adaptive object classification device with parallel architecture and method thereof
JP6650635B2 (en) * 2016-02-29 2020-02-19 パナソニックＩｐマネジメント株式会社 Determination apparatus, determination method, and determination program
CN106184207B (en) * 2016-07-12 2018-06-12 大连理工大学 Four motorized wheels electric vehicle adaptive cruise control system Torque distribution method
JP6638619B2 (en) * 2016-10-25 2020-01-29 トヨタ自動車株式会社 Lane departure suppression device
DE102017221619A1 (en) * 2017-11-30 2019-06-06 Volkswagen Aktiengesellschaft Method and device for indicating a feasibility of an at least partially automatically feasible driving maneuver in a vehicle
US11511745B2 (en) 2018-04-27 2022-11-29 Huawei Technologies Co., Ltd. Method and system for adaptively controlling object spacing
US11254311B2 (en) 2018-10-31 2022-02-22 Toyota Motor Engineering & Manufacturing North America, Inc. Lateral adaptive cruise control
US11524679B2 (en) 2021-02-08 2022-12-13 Ford Global Technologies, Llc Adaptive cruise control with user-defined lateral acceleration threshold

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EP0778507A2 (en) * 1995-12-04 1997-06-11 Volkswagen Aktiengesellschaft Method for controlling the speed of a vehicle
EP0945320A1 (en) * 1998-03-24 1999-09-29 Renault Control process for the dynamic behaviour of a road vehicle
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Publication number Priority date Publication date Assignee Title
EP0778507A2 (en) * 1995-12-04 1997-06-11 Volkswagen Aktiengesellschaft Method for controlling the speed of a vehicle
US5978731A (en) * 1996-11-12 1999-11-02 Honda Giken Kogyo Kabushiki Kaisha Vehicle control system
EP0945320A1 (en) * 1998-03-24 1999-09-29 Renault Control process for the dynamic behaviour of a road vehicle
DE19848236A1 (en) * 1998-10-20 2000-04-27 Bosch Gmbh Robert Method for controlling speed of motor vehicle prior to vehicle traveling around bend involves controlling speed in dependence of target speed determined by iterative process
US20010007966A1 (en) * 1999-12-22 2001-07-12 Visteon Global Technologies, Inc. Method and system for controlling vehicle speed based on vehicle yaw rate and yaw acceleration
US20020165657A1 (en) * 2000-04-14 2002-11-07 Hermann Winner Method for regulating the speed of a vehicle
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Also Published As

Publication number Publication date
EP1577146A2 (en) 2005-09-21
US7512475B2 (en) 2009-03-31
DE602005005373D1 (en) 2008-04-30
US7925416B2 (en) 2011-04-12
ATE457891T1 (en) 2010-03-15
DE602005005373T2 (en) 2009-04-02
EP1577146B1 (en) 2008-03-19
ATE389559T1 (en) 2008-04-15
DE602005019479D1 (en) 2010-04-01
EP1872998B1 (en) 2010-02-17
EP1872998A2 (en) 2008-01-02
US20050209766A1 (en) 2005-09-22
US20090150039A1 (en) 2009-06-11
EP1872998A3 (en) 2008-01-09

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